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公开(公告)号：US11726485B2
公开(公告)日：2023-08-15
申请号：US16306948
申请日：2017-06-28
Applicant: Kubota Corporation
Inventor： Sakura Tomita , Tomohiko Sano , Kazuo Sakaguchi , Tetsuya Nakajima , Makoto Oshitani , Kenichi Iwami , Osamu Yoshida
CPC classification number: G05D1/0219 , A01B69/008 , B60W30/10 , G05D1/0088 , G05D1/0278 , G05D2201/0201
Abstract: This autonomous work vehicle travel system is provided with: a satellite positioning module 80 that outputs positioning data indicating a vehicle position of a work vehicle 1; an area setting unit that sets an area CA to be worked in a work site; a route managing unit that calculates a travel route element set, which is an aggregate of multiple travel route elements constituting a travel route that covers the area CA to be worked, and storing the travel route element set so as to be readable; a route element selecting unit that selects a next travel route element to be traveled in sequence from the travel route element set; and an autonomous travel controlling unit that causes the work vehicle 1 to travel autonomously on the basis of the next travel route element and the vehicle position.
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公开(公告)号：US11197405B2
公开(公告)日：2021-12-14
申请号：US16765913
申请日：2018-11-16
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Tomohiko Sano , Osamu Yoshida , Takashi Nakabayashi , Sotaro Hayashi , Masayuki Horiuchi , Mitsuhiro Seki , Kyosuke Yamaoka , Satoshi Maruo
Abstract: The present disclosure includes a travel operation unit that is configured to be manually operated and includes a mode operation tool for switching between automatic driving and manual driving, a manual travel control unit that includes a manual travel mode in which manual driving is performed based an operation signal received from the travel operation unit, and an automatic travel control unit that includes an automatic travel mode in which automatic driving is performed, a temporary stop mode in which a vehicle body is temporarily stopped during automatic driving for transitioning from the automatic travel mode to the manual travel mode, and a check mode in which whether a state of the travel operation unit satisfies a manual driving transition condition required for starting manual driving is checked in transition from the temporary stop mode to the manual travel mode.
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23.发明申请公开(公告)号：US20210302962A1
公开(公告)日：2021-09-30
申请号：US17266289
申请日：2019-06-11
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Tomohiko Sano , Osamu Yoshida , Takashi Nakabayashi
IPC: G05D1/00 , A01D41/127 , G01C21/00 , G05D1/02
Abstract: A harvester includes an inner side map creating section creating inner side map data indicative of a polygonal shape of an unworked area located inside an outer circumference area, the outer circumference area being created in an outer circumference of a field with a circumference reaping work traveling, an initial reference line calculating section calculating from the inner side map data an initial reference line which lies parallel with one side of the unworked area, a subsequent reference line calculating section calculating a subsequent reference line subsequent to the initial reference line, an automated traveling control section executing the automated traveling based on a traveling route comprised of the initial reference line and the subsequent reference line, and a manual traveling control section executing, based on a manual operation signal, a turning transition traveling for transition from automated traveling using the foregoing traveling route to automated traveling using subsequent traveling route.
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公开(公告)号：US10905042B2
公开(公告)日：2021-02-02
申请号：US15987905
申请日：2018-05-24
Applicant: Kubota Corporation
Inventor： Atsushi Shinkai , Megumi Suzukawa , Kenji Tamatani , Izuru Shimamoto , Takafumi Morishita , Kazuo Sakaguchi
Abstract: A controller for a master work vehicle, includes a wireless circuit, an acquisition circuit, a message generation circuit, and a display control circuit. The wireless circuit is to receive, from a slave work vehicle configured to travel automatically, first information indicating a state of work travel of the slave work vehicle. The master work vehicle is configured to work in cooperation with the slave work vehicle. The acquisition circuit is configured to acquire second information indicating a state of work travel of the master work vehicle. The message generation circuit is configured to generate a first message based on the first information and a second message based on the second information. The display control circuit is configured to control a display to display the first message and the second message.
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公开(公告)号：US10754342B2
公开(公告)日：2020-08-25
申请号：US15580006
申请日：2016-06-16
Applicant: Kubota Corporation
Inventor： Sakura Tomita , Yuki Kubota , Chiaki Komaru , Kazuo Sakaguchi , Shigeki Hayashi , Tetsuya Nakajima , Tomohiko Sano
IPC: G05D1/02 , A01B69/04 , A01B79/00 , A01D41/127
Abstract: A work vehicle support system includes: an own vehicle position detecting module configured to detect an own vehicle position of a work vehicle; and a work-unfinished region outer-shape map calculating section configured to calculate, during circulating work-traveling along an outer perimeter of a work scheduled region, an outer-shape map of a work-unfinished region in the work scheduled region, from own vehicle position data acquired by the own vehicle position detecting module.
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Patent Agency Ranking
公开(公告)号：US10395447B2
公开(公告)日：2019-08-27
申请号：US14780056
申请日：2014-09-12
Applicant: KUBOTA CORPORATION
Inventor： Keisuke Miura , Isao Tanaka , Kazuo Sakaguchi , Yoshito Hayakawa , Takafumi Morishita
Abstract: To properly manage data collected by a data collection device even when the data collection device is attached to an agricultural machine different from a specified agricultural machine.A data collection device (5) mounted on an agricultural machine (4) having unique agricultural machine identification information (61a), the data collection device (5) being capable of collecting data relating to the agricultural machine (4), includes: an identification information retaining part (51) configured to retain second identification information used for identifying the agricultural machine (4); a check part (55a) configured to check the agricultural machine identification information (61a) with the second identification information retained in the identification information retention part (51), the agricultural machine identification information (61a) being retained in the agricultural machine (4); and a data collection processing part (56a) configured to carry out, based on a check result by the check part (55a), a process relating to collection of the data.
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公开(公告)号：US10219423B2
公开(公告)日：2019-03-05
申请号：US15629754
申请日：2017-06-22
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Izuru Shimamoto , Kenji Tamatani , Megumi Suzukawa , Atsushi Shinkai
IPC: G01C22/00 , G05D1/00 , A01B69/04 , G05D1/02 , G01C21/36 , G06F7/00 , G06F17/00 , G06F19/00 , G01C21/34 , G08G1/123 , G06F3/041
Abstract: A travel route generation device includes a memory, an input interface, and circuitry. The memory is to store field data including shape information on a shape of a field in which a work vehicle is to work. A field operation parameter is input via the input interface. The field operation parameter includes headland information on a headland in the field. The circuitry is configured to generate, based on the field data and the field operation parameter, a travel route along which the work vehicle is to travel in the field. The circuitry is configured to estimate a work status of the work vehicle in the field. The circuitry is configured to display the shape of the field, the travel route, and the work status in a display.
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公开(公告)号：US11317557B2
公开(公告)日：2022-05-03
申请号：US16763586
申请日：2018-11-16
Applicant: Kubota Corporation
Inventor： Kazuo Sakaguchi , Tomohiko Sano , Osamu Yoshida , Satoshi Maruo , Takashi Nakabayashi , Tetsuya Nakajima
Abstract: An automatic steering system for a work vehicle includes: a steering travel apparatus for performing leftward turning based on a leftward steering amount with respect to a straight-forward direction and performing rightward turning based on a rightward steering amount with respect to a neutral position; a subject vehicle location calculator for calculating a location of a subject vehicle; a locational shifting calculator for calculating locational shifting from the travel route and the location of the subject vehicle; a vehicle body direction calculator for calculating a vehicle body direction that indicates a direction of a vehicle body; a directional shifting calculator for calculating directional shifting from the travel route and the vehicle body direction; a steering amount calculator for calculating a first steering amount, which is a steering amount for correcting the locational shifting and the directional shifting, based on the locational shifting and the directional shifting; and a steering amount limiter for limiting the first steering amount based on a second steering amount, which is the steering amount at present.
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公开(公告)号：US11300976B2
公开(公告)日：2022-04-12
申请号：US16466056
申请日：2017-11-29
Applicant: Kubota Corporation
Inventor： Sakura Tomita , Tomohiko Sano , Kazuo Sakaguchi , Tetsuya Nakajima , Makoto Oshitani , Kenichi Iwami , Osamu Yoshida
Abstract: A work vehicle automatic traveling system includes a route element selecting unit that, on the basis of state information, sequentially selects a next travel route element on which a work vehicle is to travel next, from a travel route element set and a circling route element set. The route element selecting unit includes a cooperative route element selection rule, which is employed when a plurality of work vehicles carry out work travel cooperatively in an area CA to be worked, and an independent route element selection rule, which is employed when a single independent work vehicle among the work vehicles carries out work travel independently in the area CA to be worked. Also described is selecting the next travel route element based on the independent route element selection rule.
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30.发明授权公开(公告)号：US11168992B2
公开(公告)日：2021-11-09
申请号：US15841294
申请日：2017-12-14
Applicant: Kubota Corporation
Inventor： Yasuhisa Uoya , Izuru Shimamoto , Kenji Tamatani , Megumi Suzukawa , Atsushi Shinkai , Kazuo Sakaguchi
Abstract: A travel route generation device for a field work vehicle includes a memory and circuitry. The circuitry is configured to generate, based on field data stored in the memory, a travel route. The circuitry is configured to determine a getting-off point in the travel route at which a driver gets off the field work vehicle. The circuitry is configured to determine a getting-on point in the travel route at which the driver gets on the field work vehicle. The circuitry is configured to define a first partial route in the travel route between the entrance and the getting-off point and a second partial travel route in the travel route between the getting-on point and the entrance as a manual travel route. The circuitry is configured to define a third partial travel route in the travel route between the getting-off point and the getting-on point as an automatic travel route.
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